/*
*  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*  1. Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*  2. Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*  3. Neither the name of the copyright holder nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  move_base_action.h
*
*  authors:
*    Sebastian Pütz <spuetz@uni-osnabrueck.de>
*    Jorge Santos Simón <santos@magazino.eu>
*
*/
#ifndef MBF_ABSTRACT_NAV__MOVE_BASE_ACTION_H_
#define MBF_ABSTRACT_NAV__MOVE_BASE_ACTION_H_

#include <actionlib/server/action_server.h>
#include <actionlib/client/simple_action_client.h>

#include <mbf_msgs/MoveBaseAction.h>
#include <mbf_msgs/GetPathAction.h>
#include <mbf_msgs/ExePathAction.h>
#include <mbf_msgs/RecoveryAction.h>

#include <mbf_utility/robot_information.h>

#include "mbf_abstract_nav/MoveBaseFlexConfig.h"


namespace mbf_abstract_nav
{

class MoveBaseAction
{
public:

    //! Action clients for the MoveBase action
    typedef actionlib::SimpleActionClient<mbf_msgs::GetPathAction> ActionClientGetPath;
    typedef actionlib::SimpleActionClient<mbf_msgs::ExePathAction> ActionClientExePath;
    typedef actionlib::SimpleActionClient<mbf_msgs::RecoveryAction> ActionClientRecovery;
    typedef actionlib::ActionServer<mbf_msgs::MoveBaseAction>::GoalHandle GoalHandle;

    MoveBaseAction(const std::string &name,
                   const mbf_utility::RobotInformation &robot_info,
                   const std::vector<std::string> &controllers);

    ~MoveBaseAction();

    void start(GoalHandle &goal_handle);

    void cancel();

    void reconfigure(mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level);

protected:

    void actionExePathFeedback(const mbf_msgs::ExePathFeedbackConstPtr &feedback);

    void actionGetPathDone(
            const actionlib::SimpleClientGoalState &state,
            const mbf_msgs::GetPathResultConstPtr &result);

    void actionExePathActive();

    void actionExePathDone(
            const actionlib::SimpleClientGoalState &state,
            const mbf_msgs::ExePathResultConstPtr &result);

    void actionRecoveryDone(
            const actionlib::SimpleClientGoalState &state,
            const mbf_msgs::RecoveryResultConstPtr &result);

    bool attemptRecovery();

    bool replanningActive() const;

    void replanningThread();

    /**
     * Utility method that fills move base action result with the result of any of the action clients.
     * @tparam ResultType
     * @param result
     * @param move_base_result
     */
    template<typename ResultType>
    void fillMoveBaseResult(const ResultType &result, mbf_msgs::MoveBaseResult &move_base_result)
    {
        // copy outcome and message from action client result
        move_base_result.outcome = result.outcome;
        move_base_result.message = result.message;
        move_base_result.dist_to_goal = static_cast<float>(mbf_utility::distance(robot_pose_, goal_pose_));
        move_base_result.angle_to_goal = static_cast<float>(mbf_utility::angle(robot_pose_, goal_pose_));
        move_base_result.final_pose = robot_pose_;
    }

    mbf_msgs::ExePathGoal exe_path_goal_;
    mbf_msgs::GetPathGoal get_path_goal_;
    mbf_msgs::RecoveryGoal recovery_goal_;

    geometry_msgs::PoseStamped last_oscillation_pose_;
    ros::Time last_oscillation_reset_;
    //! timeout after a oscillation is detected
    ros::Duration oscillation_timeout_;
    //! minimal move distance to not detect an oscillation
    double oscillation_distance_;
    GoalHandle goal_handle_;
    std::string name_;
    //! current robot state
    const mbf_utility::RobotInformation &robot_info_;
    //! current robot pose; updated with exe_path action feedback
    geometry_msgs::PoseStamped robot_pose_;
    //! current goal pose; used to compute remaining distance and angle
    geometry_msgs::PoseStamped goal_pose_;
    ros::NodeHandle private_nh_;
    //! Action client used by the move_base action
    ActionClientExePath action_client_exe_path_;
    //! Action client used by the move_base action
    ActionClientGetPath action_client_get_path_;
    //! Action client used by the move_base action
    ActionClientRecovery action_client_recovery_;
    //! current distance to goal (we will stop replanning if very close to avoid destabilizing the controller)
    double dist_to_goal_;
    //! Replanning period dynamically reconfigurable
    ros::Duration replanning_period_;
    //! Replanning thread, running permanently
    boost::thread replanning_thread_;
    //! true, if recovery behavior for the MoveBase action is enabled.
    bool recovery_enabled_;
    std::vector<std::string> recovery_behaviors_;
    std::vector<std::string>::iterator current_recovery_behavior_;
    const std::vector<std::string> &behaviors_;
    enum MoveBaseActionState
    {
        NONE,
        GET_PATH,
        EXE_PATH,
        RECOVERY,
        OSCILLATING,
        SUCCEEDED,
        CANCELED,
        FAILED
    };
    MoveBaseActionState action_state_;
    MoveBaseActionState recovery_trigger_;
};

} /* mbf_abstract_nav */

#endif //MBF_ABSTRACT_NAV__MOVE_BASE_ACTION_H_
